基于神经网络的机械臂自适应输出反馈控制设计

doi:10.3969/j.issn.0255-8297.2013.04.014

应用科学学报 ›› 2013, Vol. 31 ›› Issue (4): 427-433.doi: 10.3969/j.issn.0255-8297.2013.04.014

基于神经网络的机械臂自适应输出反馈控制设计

贾鹤鸣1，宋文龙1，郭少彬2，杨立新3

1. 东北林业大学机电工程学院，哈尔滨150040
2. 西南电子设备研究所，成都610036
3. 哈尔滨工程大学自动化学院，哈尔滨150001

收稿日期:2011-12-02 修回日期:2012-06-05 出版日期:2013-07-27 发布日期:2012-06-05
通信作者: 贾鹤鸣，副教授，研究方向：非线性控制理论及应用，E-mail: jiaheminglucky99@126.com
作者简介:贾鹤鸣，副教授，研究方向：非线性控制理论及应用，E-mail: jiaheminglucky99@126.com；宋文龙，教授，博导，研究方向：林业自动化、智能控制及检测等，E-mail: wlsong139@126.com
基金资助:
中央高校基本科研业务费专项资金(No.DL13BB14)资助

Adaptive Output Feedback Control of Manipulators Based on Neural Network

JIA He-ming1, SONG Wen-long1, GUO Shao-bin2, YANG Li-xin3

1. College of Mechanical and Electrical Engineering, Northeast Forestry University, Harbin 150040, China
2. Southwest Research Institute of Electronic Equipment, Chengdu 610036, China
3. College of Automation, Harbin Engineering University, Harbin 150001, China

Received:2011-12-02 Revised:2012-06-05 Online:2013-07-27 Published:2012-06-05

摘要/Abstract

摘要： 研究了机械臂的位置跟踪问题，提出了基于神经网络的自适应输出反馈控制方法. 该方法无需系统精确的数学模型，适用于具有非线性不确定性和外界干扰的机械臂控制系统. 设计的控制器由三部分组成：基于动态补偿器的输出反馈控制项、神经网络自适应控制项和鲁棒控制项. 神经网络的权值自适应学习率由Lyapunov稳定性理论得出. 仿真结果表明设计的控制器能驱动机械臂精确跟踪期望的位置，验证了该控制方法的有效性.

关键词: 机械臂, 位置跟踪控制, 输出反馈, 神经网络自适应

Abstract: The position tracking control problem for manipulators is addressed, and an adaptive output feedback controller based on neural network is proposed. The controller does not need an exact model, and is applicable to manipulators control systems with nonlinear uncertain dynamics and environmental disturbances.The controller is composed of three parts: output feedback control based on dynamic compensator, a neural network, and an item of robust control. The adaptive learning law of neural network can be obtained based on the Lyapunov stability theory. Numerical simulations show excellent performance of position control for picking manipulators.

Key words: manipulator, position tracking control, output feedback, adaptive neural network

中图分类号:

TP241

贾鹤鸣1，宋文龙1，郭少彬2，杨立新3. 基于神经网络的机械臂自适应输出反馈控制设计[J]. 应用科学学报, 2013, 31(4): 427-433.

JIA He-ming1, SONG Wen-long1, GUO Shao-bin2, YANG Li-xin3. Adaptive Output Feedback Control of Manipulators Based on Neural Network[J]. Journal of Applied Sciences, 2013, 31(4): 427-433.

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基于神经网络的机械臂自适应输出反馈控制设计

Adaptive Output Feedback Control of Manipulators Based on Neural Network

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